Fabric soft poly-limbs for physical assistance of daily living tasks

Pham H. Nguyen, I. B. Imran Mohd, Curtis Sparks, Francisco L. Arellano, Wenlong Zhang, Panagiotis Polygerinos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance through the use of soft actuators made with high-strength inflatable fabrics. In this work, a set of systematic design rules is presented for the creation of highly compliant soft robotic limbs through an understanding of the fabric based components behavior as a function of input pressure. These design rules are generated by investigating a range of parameters through computational finite-element method (FEM) models focusing on the fSPL's articulation capabilities and payload capacity in 3D space. The theoretical motion and payload outputs of the fSPL and its components are experimentally validated as well as additional evaluations verify its capability to safely carry loads 10.1x its body weight, by wrapping around the object. Finally, we demonstrate how the fully collapsible fSPL can comfortably be stored in a soft-waist belt and interact with the wearer through spatial mobility and preliminary pick-and-place control experiments.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8429-8435
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 1 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Nguyen, P. H., Imran Mohd, I. B., Sparks, C., Arellano, F. L., Zhang, W., & Polygerinos, P. (2019). Fabric soft poly-limbs for physical assistance of daily living tasks. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 8429-8435). [8794294] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794294